路段上集群智能网联汽车的车队形成机制

智能网联汽车是解决城市交通问题的关键技术之一,对于未来城市智能交通体系建设有着关键作用。集群的智能网联汽车已经具备了涌现的基本条件,设计科学合理的交互规则,可以实现车辆的自组织,分布式涌现控制。以微观仿真软件VISSIM及C2X模块为研究平台,修改驾驶模型参数,在C2X模块中编程实现3条交互规则:速度一致、尽量靠近、避免碰撞,在仿真软件中构建单车道仿真模型,运行仿真实验,统计车辆在路段上不同距离形成车队情况,利用车头时距分布的熵值来衡量车流的有序性。仿真结果表明,车辆在运行至50s后初步形成车队,随着时间的增加,形成的车队越稳定,车流熵值在路段上随距离增加而减小,说明形成车队后更加有序,在路段上呈现出涌现现象。

Platoon Formation Mechanism of Collective Connected Autonomous Vehicles on Road

As one of the key technologies to solve urban traffic problems,connected autonomous vehicle plays a critical role in the future construction of urban ITS.Collective connected autonomous vehicle already have the basic conditions of emergence,the self-organization and distributed emergence control of vehicles can be achieved by the design of scientific and reasonable interaction rules.The microsimulation software VISSIM and C2 Xmodule are used in this study,the parameters of driving model are modified,and three interactive rules are programmed in C2 X:speed consistency,as close as possible,and avoiding collision.A single-lane road model is built in the simulation software,and the vehicle platoon formation at different distances is observed.The orderliness of the traffic flow is measured by the entropy value of the headway distributions.The simulation results show that the vehicle initially forms a platoon after running for 50 s,and with the time goes,the platoon becomes more stable,and the entropy value of the platoon decreases with the increase of the distance on the road,indicating that the formation of the platoon is more orderly,presenting the emergence of collective and connected autonomous vehicle on road.